CN103437763A - Underground remote control shoveling robot - Google Patents
Underground remote control shoveling robot Download PDFInfo
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- CN103437763A CN103437763A CN2013104069482A CN201310406948A CN103437763A CN 103437763 A CN103437763 A CN 103437763A CN 2013104069482 A CN2013104069482 A CN 2013104069482A CN 201310406948 A CN201310406948 A CN 201310406948A CN 103437763 A CN103437763 A CN 103437763A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 238000013016 damping Methods 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 239000003245 coal Substances 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000010354 integration Effects 0.000 abstract 1
- 238000005065 mining Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The invention discloses an underground remote control shoveling robot which belongs to the field of photoelectric mechanical and hydraulic integration, and particularly relates to an underground remote control shoveling robot. The underground remote control shoveling robot comprises a control system, a monitoring system and a remote control shoveling robot, wherein the control system comprises an operating platform and an operation emitting module; the monitoring system comprises a video acquiring unit and a video playing control unit, the video acquiring unit is wirelessly connected with the video playing control unit; the remote control shoveling robot comprises an operation receiving module, a task executing unit and a task monitoring unit; and the operation emitting module of the control system is wirelessly connected with the operation receiving module of the remote control shoveling robot. An operator can know the current situation of a mine and then control the operation platform through observing a display on the ground, and wirelessly transmits an operation instruction to the remote control shoveling robot so that the shoveling robot can execute actions of loading, unloading and transporting according to the operation instruction, thus the safety production of a non-coal mine is realized.
Description
Technical field
The invention belongs to and belong to the liquid integrated field of photoelectricity machine, be specifically related to a kind of underground remote-controlled scraper device people.
Background technology
China's underground mining equipment, particularly large-scale winning equipment and unmanned winning equipment are also substantially in conceptual phase, ripe practical large-scale winning equipment and the basic dependence on import of unmanned winning equipment, the application studies of advanced technology on equipment such as automation, intellectuality, networking are also rare, the gap of domestic underground mining equipment and world mining industry developed country is very large, has had a strong impact on the Efficient Development of china natural resources and the progress of mining industry technology.Along with the research of Digital Mine technology, digitizing technique has become the basis of the safe and efficient exploitation of Mineral resources, is the important leverage of mining industry transformation and sustainable development.The advanced IT application that finally shows as mine of Digital Mine, automation, intelligent and highly effective and safe exploitation, to such an extent as to realize unmanned mining and remote-controlled mining pattern. the foundation of Digital Mine must turn to basis with automation and the remote control of large-scale trackless technical equipment.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of underground remote-controlled scraper device people, can the underground mining operation of Long-distance Control scraper robot.
The technical solution adopted for the present invention to solve the technical problems is: a kind of underground remote-controlled scraper device people is provided, it is characterized in that comprising control system, monitoring system and remote controlled scraper robot,
Control system comprises operating platform and operation issue module;
Monitoring system comprises video acquisition unit and video playback control module, between video acquisition unit and video playback control module by wireless connections;
Remote controlled scraper robot comprises operation receiver module, task executing units and Mission Monitor unit;
Between the operation receiver module of the operation issue module of control system and remote controlled scraper robot by wireless connections.
A kind of underground remote-controlled scraper device people of the present invention, is characterized in that video acquisition unit comprises wireless sending and receiving module and video multiplexer, and video multiplexer connects camera and The Cloud Terrace; The quantity of camera is more than three, and wherein camera is arranged on the bottom of remote controlled scraper robot, and wherein two cameras are arranged on respectively the driver's cabin both sides of remote controlled scraper robot by The Cloud Terrace.
By the mode of lifting, The Cloud Terrace is hung in the driver's cabin both sides of remote controlled scraper robot by damping, no matter make the The Cloud Terrace vehicle how tilt to remain vertically, camera can carry out upper and lower 160 degree rotations by The Cloud Terrace, and the rotation of left and right 340 degree is controlled; Every camera is all independently controlled.
The video playback control module comprises master control set and display, video multiplexer and wireless sending and receiving module; Master control set can be controlled by wireless remote control the motion up and down of camera switch and the The Cloud Terrace of video acquisition unit.
Carry out wireless connections by the honeycomb repeater between the wireless sending and receiving module of video acquisition unit and the wireless sending and receiving module of video playback control module.
The task executing units of remote controlled scraper robot comprises tasks carrying control module and Vehicle Driving Cycle control module; The tasks carrying control module comprises to be controlled the proportional quantities of travel speed, the lifting of travel direction scraper bowl and large arm lifting; The Vehicle Driving Cycle control module comprises to be controlled the switching value of start, shutdown, braking, light, loudspeaker.
The Mission Monitor unit comprises hydraulic oil temperature sensor, return pressure sensor, brake pressure sensor, operating pressure sensor.
The Mission Monitor unit also comprises radar for backing car, sound and light alarm and on-the-spot emergency manual lugs.
Carry out wireless connections by the honeycomb repeater between the operation receiver module of the operation issue module of control system and remote controlled scraper robot.
The invention has the beneficial effects as follows:
1, underground remote-controlled scraper device people's research adopts principal and subordinate's control technology to carry out operated from a distance control, utilize Automatic Control Theory, operating personnel can pass through observation display on the ground, understand in time the real-time present situation of mine, control operation platform as required then, and operational order is radioed to Remote scraper robot, and make the scraper robot carry out the actions such as handling, transportation according to operational order, realize the safety in production of non-coal mine.
2, adopt the wireless propagation path identification system of innovation, utilize the multi-data fusion technology, obtain the actual condition in non-coal mine dangerous operation district, and be wirelessly transmitted to remote platform.The utilization of video system, make the staff can observe by video the working condition of control object, can effectively identify remote-controlled scraper device people surrounding enviroment.
3, optimize the structure design of remote-controlled scraper device robot system, draw the structural optimization design of scraper robot, set up remote-controlled scraper device robot system model for non-coal mine, realize that remote-controlled scraper device robot mechanism, control and video monitoring are integrated.
The accompanying drawing explanation
Fig. 1 is that structure of the present invention forms schematic diagram;
Fig. 2 is the composition schematic diagram of video acquisition unit of the present invention;
Fig. 3 is the composition schematic diagram of video playback control module of the present invention;
Fig. 4 is the composition schematic diagram of remote controlled scraper of the present invention robot.
The specific embodiment
Below in conjunction with accompanying drawing and the specific embodiment, the present invention is described in further detail.
As shown in the figure, a kind of underground remote-controlled scraper device people shown in the present, is characterized in that being comprised of control system, monitoring system and remote controlled scraper robot.Remote controlled scraper robot can be used in intelligence and dig that excavate in ore deposit or other mines, Transport Machinery.
Control system comprises operating platform and operation issue module.Monitoring system comprises video acquisition unit and video playback control module, between video acquisition unit and video playback control module, by the honeycomb repeater, is connected, and realizes wireless interconnected.
Remote controlled scraper robot comprises operation receiver module, task executing units and Mission Monitor unit three parts.
Carry out wireless connections by the honeycomb repeater between the operation receiver module of the operation issue module of control system and remote controlled scraper robot.
A kind of underground remote-controlled scraper device people of the present invention, is characterized in that video acquisition unit comprises wireless sending and receiving module and video multiplexer, and video multiplexer connects camera and The Cloud Terrace; The quantity of camera is three, and wherein camera 3 is arranged on the bottom of remote controlled scraper robot, for monitoring reversing.Wherein camera 1 and 2 is arranged on respectively the driver's cabin both sides of remote controlled scraper robot by The Cloud Terrace 1 and 2.
The mode of The Cloud Terrace 1 and the lifting of 2 use is hung in the driver's cabin both sides of remote controlled scraper robot by damping, no matter make the The Cloud Terrace vehicle how tilt to remain vertically, camera can carry out upper and lower 160 degree rotations by The Cloud Terrace, and the rotation of left and right 340 degree is controlled; Every camera is all independently controlled.
The video playback control module comprises master control set and display, video multiplexer and wireless sending and receiving module; Master control set can be controlled by wireless remote control the motion up and down of camera switch and the The Cloud Terrace of video acquisition unit.
The task executing units of remote controlled scraper robot comprises tasks carrying control module and Vehicle Driving Cycle control module; The tasks carrying control module comprises to be controlled the proportional quantities of travel speed, the lifting of travel direction scraper bowl and large arm lifting; The Vehicle Driving Cycle control module comprises to be controlled the switching value of start, shutdown, braking, light, loudspeaker.
The Mission Monitor unit comprises hydraulic oil temperature sensor, return pressure sensor, brake pressure sensor, operating pressure sensor, radar for backing car, sound and light alarm and on-the-spot emergency manual lugs.
The present invention in use, operating personnel can pass through observation display on the ground, understand in time the real-time present situation of mine, control operation platform as required then, and operational order is radioed to Remote scraper robot, carry out Vehicle Driving Cycle or tasks carrying to control it, thereby implement to dig the ore deposit operation.
It is pointed out that above-mentioned embodiment is only the preferred embodiment of the invention, for those skilled in the art, meeting under the prerequisite of operating principle of the present invention, any be equal to or similar replacement all falls within the scope of protection of the present invention.
Claims (9)
1. a underground remote-controlled scraper device people, is characterized in that comprising control system, monitoring system and remote controlled scraper robot,
Control system comprises operating platform and operation issue module;
Monitoring system comprises video acquisition unit and video playback control module, between video acquisition unit and video playback control module by wireless connections;
Remote controlled scraper robot comprises operation receiver module, task executing units and Mission Monitor unit;
Between the operation receiver module of the operation issue module of control system and remote controlled scraper robot by wireless connections.
2. a kind of underground remote-controlled scraper device people according to claim 1, is characterized in that video acquisition unit comprises wireless sending and receiving module and video multiplexer, and video multiplexer connects camera and The Cloud Terrace; The quantity of camera is more than three, and wherein camera is arranged on the bottom of remote controlled scraper robot, and wherein two cameras are arranged on respectively the driver's cabin both sides of remote controlled scraper robot by The Cloud Terrace.
3. a kind of underground remote-controlled scraper device people according to claim 2, it is characterized in that, by the mode of lifting, The Cloud Terrace is hung to the driver's cabin both sides in remote controlled scraper robot by damping, no matter make the The Cloud Terrace vehicle how tilt to remain vertical, camera can carry out upper and lower 160 degree rotations by The Cloud Terrace, and the rotation of left and right 340 degree is controlled; Every camera is all independently controlled.
4. a kind of underground remote-controlled scraper device people according to claim 1, is characterized in that the video playback control module comprises master control set and display, video multiplexer and wireless sending and receiving module; Master control set can be controlled by wireless remote control the motion up and down of camera switch and the The Cloud Terrace of video acquisition unit.
5. according to claim 2 or 3 or 4 described a kind of underground remote-controlled scraper device people, it is characterized in that carrying out wireless connections by the honeycomb repeater between the wireless sending and receiving module of the wireless sending and receiving module of video acquisition unit and video playback control module.
6. a kind of underground remote-controlled scraper device people according to claim 2, is characterized in that the task executing units of remote controlled scraper robot comprises tasks carrying control module and Vehicle Driving Cycle control module; The tasks carrying control module comprises to be controlled the proportional quantities of travel speed, the lifting of travel direction scraper bowl and large arm lifting; The Vehicle Driving Cycle control module comprises to be controlled the switching value of start, shutdown, braking, light, loudspeaker.
7. a kind of underground remote-controlled scraper device people according to claim 6, is characterized in that the Mission Monitor unit comprises hydraulic oil temperature sensor, return pressure sensor, brake pressure sensor, operating pressure sensor.
8. a kind of underground remote-controlled scraper device people according to claim 7, is characterized in that the Mission Monitor unit also comprises radar for backing car, sound and light alarm and on-the-spot emergency manual lugs.
9. according to claim 6 or 7 or 8 described a kind of underground remote-controlled scraper device people, it is characterized in that carrying out wireless connections by the honeycomb repeater between the operation receiver module of the operation issue module of control system and remote controlled scraper robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310406948.2A CN103437763B (en) | 2013-09-10 | 2013-09-10 | A kind of underground remote-controlled scraper device people |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310406948.2A CN103437763B (en) | 2013-09-10 | 2013-09-10 | A kind of underground remote-controlled scraper device people |
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| CN103437763A true CN103437763A (en) | 2013-12-11 |
| CN103437763B CN103437763B (en) | 2015-11-18 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104965424A (en) * | 2015-06-17 | 2015-10-07 | 北京矿冶研究总院 | Fixed-point unloading autonomous control system of underground scraper |
| CN105959652A (en) * | 2016-07-05 | 2016-09-21 | 电子科技大学 | Visual remote control receiving device and system based on WiFi (Wireless Fidelity) wireless network |
| CN106593438A (en) * | 2017-01-25 | 2017-04-26 | 中国地质大学（武汉） | Drilling hydraulic mining downhole excavating robot |
| CN106759618A (en) * | 2016-12-15 | 2017-05-31 | 电子科技大学 | A kind of wireless remote control method of underground carry scraper |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116018804A (en) * | 2020-05-19 | 2023-04-25 | 阿卜杜拉国王科技大学 | Autonomous mining system based on real-time digital video communication employing Ethernet and optical technology |
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| CN105959652A (en) * | 2016-07-05 | 2016-09-21 | 电子科技大学 | Visual remote control receiving device and system based on WiFi (Wireless Fidelity) wireless network |
| CN106759618A (en) * | 2016-12-15 | 2017-05-31 | 电子科技大学 | A kind of wireless remote control method of underground carry scraper |
| CN106593438A (en) * | 2017-01-25 | 2017-04-26 | 中国地质大学（武汉） | Drilling hydraulic mining downhole excavating robot |
| CN106593438B (en) * | 2017-01-25 | 2017-12-29 | 中国地质大学（武汉） | Drilling hole hydraulic mining down-hole mining robot |
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| CN103437763B (en) | 2015-11-18 |
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Denomination of invention: An underground remote control shovel robot Effective date of registration: 20211223 Granted publication date: 20151118 Pledgee: Shandong Zhangdian Rural Commercial Bank Co.,Ltd. Pledgor: ZIBO GUANGZI MACHINERY Co.,Ltd. Registration number: Y2021980015924 |
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Date of cancellation: 20221206 Granted publication date: 20151118 Pledgee: Shandong Zhangdian Rural Commercial Bank Co.,Ltd. Pledgor: ZIBO GUANGZI MACHINERY Co.,Ltd. Registration number: Y2021980015924 |
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Denomination of invention: An Underground Remote Control Scraping Robot Effective date of registration: 20221212 Granted publication date: 20151118 Pledgee: Shandong Zhangdian Rural Commercial Bank Co.,Ltd. Pledgor: ZIBO GUANGZI MACHINERY Co.,Ltd. Registration number: Y2022980026095 |
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Date of cancellation: 20231121 Granted publication date: 20151118 Pledgee: Shandong Zhangdian Rural Commercial Bank Co.,Ltd. Pledgor: ZIBO GUANGZI MACHINERY Co.,Ltd. Registration number: Y2022980026095 |
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Denomination of invention: An underground remote-controlled shovel robot Effective date of registration: 20231130 Granted publication date: 20151118 Pledgee: Shandong Zhangdian Rural Commercial Bank Co.,Ltd. Pledgor: ZIBO GUANGZI MACHINERY Co.,Ltd. Registration number: Y2023980068605 |